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Inerrancy = The Scriptures do not err.
Infallibility = The Scriptures cannot err.
They both are similar in definition as it has been pointed out already. Evangelicals started using the term inerrancy about 30 or so ago, because of those who were rejecting the infallibity of Scripture by stating that the Bible was only infallible in areas of doctrine. When we state that we believe that the Bible is infallible we are stating that is without error.